• Korean Journal of Applied Biomechanics
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• v.25 no.4
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• pp.413-421
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• 2015

Objective : The purpose of this study was to investigate biomechanical changes of the lower limb including dynamic stability with changes in illumination (300Lx, 150Lx, and 5Lx) and slope (level and $15^{\circ}$ downhill) as risk factors for elderly falls. Method : Fifteen elderly females were selected for this study. Seven infrared cameras (Proreflex MCU 240: Qualisys, Sweden) and an instrumented treadmill (Bertec, USA) surrounded by illumination regulators and lights to change the levels of illumination were used to collect the data. A One-Way ANOVA with repeated measures using SPSS 12.0 was used to analyze statistical differences by the changes in illumination and slope. Statistical significance was set at ${\alpha}=.05$. Results : No differences in the joint movement of the lower limbs were found with changes in illumination (p>.05). The maximum plantar flexion movement of the ankle joints appeared to be greater at 5Lx compared to 300Lx during slope gait (p<.05). Additionally, maximum extension movement of the hip joints appeared to be greater at 5Lx and 150Lx compared to 300Lx during slope gait (p<.05). The maximum COM-COP angular velocity (direction to medial side of the body) of dynamic stability appeared to be smaller at 150Lx and 300Lx compared to 5Lx during level gait (p<.05). The minimum COM-COP angular velocity (direction to lateral side to the body) of dynamic stability appeared smaller at 150Lx compared to 5Lx during level gait (p<.05). Conclusion : In conclusion, elderly people use a stabilization strategy that reduces walk speed and dynamic stability as darkness increases. Therefore, the changes in illumination during gait induce the changes in gait mechanics which may increase the levels of biomechanical risk in elderly falls.

• Journal of Korean Society of Disaster and Security
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• v.6 no.1
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• pp.1-8
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• 2013

Walking is one of human functions and has been the base of the development of human civilization. Walking ability had made the first village and urban pattern of the mankind. Cities had been constructed for pedestrian's convenience and happy life. But conventional cities have been crowded by the rapid increasing vehicles and population since material civilization had developed. On the other hand, pedestrian space has been neglected urban districts. Chose this study to suggest a direction for improvement by following the direction of the city characteristics and roadside pedestrian space. 1. Investigate the relationship and the significance and problems of pedestrian space by finding survey of the literature and discussion with those that affect the behavior of the pedestrian environment around. 2. For a comfortable pedestrian space on the improvement of the pedestrian area of space (physical and psychological) and gait characteristics, service levels and basic data. 3. Chose how to extract the most appropriate of the best alternatives presented several proposals based on the above survey of the literature data and field survey.

• The Transactions of The Korean Institute of Electrical Engineers
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• v.65 no.2
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• pp.349-353
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• 2016

The purpose of this study was to investigate possible age differences in the attenuation of acceleration in the upper body (from pelvis through shoulder to head) during fast walking. Thirty young and 29 elderly subjects participated in this study. Wireless acceleration sensors were attached on head, shoulder, and pelvis. Subjects performed two trials of fast walking on a treadmill, where the fast speed was defined as 1.5 times of the comfortable speed. Root-mean-squared (RMS) accelerations of each axis were compared with age group and sensor position as independent factors. In the AP direction, the pelvis acceleration was greater in the young and the shoulder-to-head attenuation was also greater in the young (p<0.001), so that the head acceleration was comparable between age groups (p=0.581). In the ML direction, the pelvis acceleration was greater in the young and also the pelvis-to-shoulder attenuation was greater in the young (p<0.001), so that the head acceleration was greater in the elderly group (p<0.001). Insufficient attenuation ML acceleration in the elderly resulting in the greater acceleration in the head may deteriorate the balance control which utilize feedback signals from the sensory organs in head, e.g., vestibular and visual systems.

• Transactions of the Korean Society of Mechanical Engineers A
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• v.41 no.9
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• pp.825-837
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• 2017

This paper describes a novel type of a walking rehabilitation robot that applies robot technologies to crutches used by patients with walking difficulties in the lower body. The primary features of the developed robot are divided into three parts. First, the developed robot is worn on the patient's chest, as opposed to the conventional elbow crutch that is attached to the forearm; hence, it can effectively disperse the patient's weight throughout the width of the chest, and eliminate the concentrated load at the elbow. Furthermore, it allows free arm motion during walking. Second, the developed robot can recognize the walking intention of the patient from the magnitude and direction of the ground reactive forces. This is done using three-axis force sensors attached to the feet of the robot. Third, the robot can perform a stair walking function, which can change vertical movement trajectories in order to step up and down a single stair according to the floor height. Consequently, we experimentally showed that the developed robot can effectively perform walking rehabilitation assistance by perceiving the walking intention of the patient. Moreover we quantitatively verified muscle power assistance by measuring the electromyography (EMG) signals of the muscles of the lower limb.

• Journal of Korean Physical Therapy Science
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• v.27 no.2
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• pp.25-35
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• 2020

Background: There are many situations where walking in an actual community needs to change direction along with walking on a straight path, and this situation needs to be reflected in assessing walking ability of the community. Therefore, in this study, we tried to determine whether the assessments can distinguish the level of walking in the community. Design: Retrospective cohort study. Methods: Fifty-two survivors with chronic stroke have participated in the study. According to the evaluation result of 10mWT, the subjects of 0.8m/s and above were classified as the group who could walk in the community (n=22), and the subjects of 0.4m/s~0.8m/s were classified into the group who could not walk in the community (n=30). Modified Rivermead Mobility Index, Postural Assessment Scale for Stroke, Fugl-Meyer Assessment, Berg Balance Scale, 10-meter Walk Test (10mWT) were used to evaluate the motor skills. Furthermore, Activities-specific Balance Confidence Scale was used to evaluate psychological factors, and Timed Up & Go Test (TUG), Figure-of-Eight Walk Test (F8WT), Four Square Step Test (FSST), Step Test (ST) were applied to evaluate dynamic balance and mobility. Results: As a result for distinguishing walking levels in the community, TUG was 14.25 seconds, F8WT was 13.34 seconds, FST was 19.43 seconds, and ST of affected side and non-affected side were 6.5 points and 7.5 points, respectively. TUG (AUC=0.923), F8WT (AUC=0.905), and FST (AUC=0.941) were highly accurate, but the ST of affected side and non-affected side (AUC=0.806, 0.705) showed the accuracy of the median degree, respectively. Conclusion: To distinguish walking levels in the community of survivors with chronic stroke, TUG and FSST have been found to be the best assessment tool, and in particular, FSST could be very valuable in clinical use as the most important assessment tool to distinguish walking levels in the community.

• The Journal of Korean Academy of Orthopedic Manual Physical Therapy
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• v.26 no.1
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• pp.1-8
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• 2020

Background: The aim of this study was to conduct an Otago exercise program with total knee replacement patient (TKR) in a clinical setting and ascertain its effects on balance, walking ability and falls efficacy. Methods: The participating subjects were 30 people who had been diagnosed with TKR. They were assigned to two groups (Exp; Otago exercise and general physical therapy, n=15; Con; balance exercise and general physical therapy, n=15), and the exercises were conducted for three sessions per week for four weeks. The main balance outcomes were evaluated using the timed up and go test (TUG), while walking ability was evaluated using the 10m walk test (10MWT), direction change ability was measured using the figure 8 of walk test (F8WT), and the decrease of fear was evaluated using the modified falls efficacy scale (MFES). Results: In the analysis results, the Exp group showed significant increases in TUG, 10MWT, and F8WT within the both groups. There were significant differences in all variables between the Exp group and the Con group at the post-intervention evaluation, but there was no significant difference between the groups with respect to the TUG. Conclusion: The results of this study demonstrated that Otago exercise would be useful to improve balance and walking for TKR patients who want to improve their abilities and activities of daily living.

• Physical Therapy Korea
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• v.26 no.1
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• pp.1-7
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• 2019

Background: The Microsoft Kinect which is a low-cost gaming device has been studied as a promise clinical gait analysis tool having satisfactory reliability and validity. However, its accuracy is only guaranteed when it is properly positioned in front of a subject. Objects: The purpose of this study was to identify the error when the Kinect was positioned at a $45^{\circ}$ angle to the longitudinal walking plane compare with those when the Kinect was positioned in front of a subject. Methods: Sixteen healthy adults performed two testing sessions consisting of walking toward and $45^{\circ}$ obliquely the Kinect. Spatiotemporal outcome measures related to stride length, stride time, step length, step time and walking speed were examined. To assess the error between Kinect and 3D motion analysis systems, mean absolute errors (MAE) were determined and compared. Results: MAE of stride length, stride time, step time and walking speed when the Kinect set in front of subjects were investigated as .36, .04, .20 and .32 respectively. MAE of those when the Kinect placed obliquely were investigated as .67, .09, .37, and .58 respectively. There were significant differences in spatiotemporal outcomes between the two conditions. Conclusion: Based on our study experience, positioning the Kinect directly in front of the person walking towards it provides the optimal spatiotemporal data. Therefore, we concluded that the Kinect should be placed carefully and adequately in clinical settings.

• Journal of the Society of Disaster Information
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• v.18 no.3
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• pp.495-506
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• 2022

Purpose: When a serious disaster occurred in East Japan on March 11, 2011, some evacuees in shock failed to avoid danger to the best of their ability. Why did they hesitate and waste their time? And why didn't they choose correct escaping routes? This study attempts to classify human behavior through psychological point of view and cognitive science and to interpret behavioral patterns based on animal behaviors from the field of biology. Method: This study first conceptually categorized walking behavior into intellectualization, automaticity and instinct based on the existing literature and matched these with empirical data. Result: The actual walking patterns observed failed to be compatible with these categories and consequently, this study suggests the following five categories: normal, busy, fast & straight, freezing and tizzy. This new classification of walking behavior is based on speed, variation of speed and change of direction. Conclusion: The method used in this study and the results can be applied to simulations of walking behavior and analysis of behavior in emergency situations.

• Journal of Institute of Control, Robotics and Systems
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• v.14 no.11
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• pp.1146-1154
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• 2008

This paper presents a method for the acceleration analysis of multi-legged walking robots in consideration of the frictional ground contact. This method is based on both unified dynamic equation for finding the acceleration of a robot's body and constraint equation for satisfying no-slip condition. After the dynamic equation representing relationship between actuator torques and body acceleration, is derived from the force and acceleration relationship between foot and body's gravity center, the constraint equation is formulated to reconfigure the maximum torque boundaries satisfying no-slip condition from given original actuator torque boundaries. From application of the reconfigured torques to the dynamic equation, interested acceleration boundaries are obtained. The approach based on above two equations, is adapted to the changes of degree-of-freedoms of legs as well as friction of ground. And the method provides the maximum translational and rotational acceleration boundaries of body's center that are achievable in every direction without occurring slipping at the contact points or saturating all actuators. Given the torque limits in infinite normsense, the resultant accelerations are derived as a polytope. From the proposed method, we obtained achievable acceleration boundaries of 4-legged and 6-legged walking robot system successfully.

• Journal of the Korean Society for Precision Engineering
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• v.23 no.4 s.181
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• pp.75-82
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• 2006

In this paper, we propose an optimal trajectory for biped robots to move up-and-down stairs using a genetic algorithm and a computed-torque control for biped robots to be dynamically stable. First, a Real-Coded Genetic Algorithm (RCGA) which of operators are composed of reproduction, crossover and mutation is used to minimize the total energy. Constraints are divided into equalities and inequalities: Equality constraints consist of a position condition at the start and end of a step period and repeatability conditions related to each joint angle and angular velocity. Inequality constraints include collision avoidance conditions of a swing leg at the face and edge of a stair, knee joint conditions with respect to the avoidance of the kinematic singularity, and the zero moment point condition with respect to the stability into the going direction. In order to approximate a gait, each joint angle trajectory is defined as a 4-th order polynomial of which coefficients are chromosomes. The effectiveness of the proposed optimal trajectory is shown in computer simulations with a 6-dof biped robot that consists of seven links in the sagittal plane. The trajectory is more efficient than that generated by the modified GCIPM. And various trajectories generated by the proposed GA method are analyzed in a viewpoint of the consumption energy: walking on even ground, ascending stairs, and descending stairs.